U.S. patent application number 17/520269 was filed with the patent office on 2022-05-12 for autonomous mobile robot, transporter, autonomous mobile robot control method, and transporter control method.
This patent application is currently assigned to Kabushiki Kaisha Toshiba. The applicant listed for this patent is Kabushiki Kaisha Toshiba, Toshiba Infrastructure Systems & Solutions Corporation. Invention is credited to Yusuke ITO, Nobuyuki KISHI, Yasunori MAKI, Akihiro MORI, Hideki OGAWA, Takafumi SONOURA, Seiji TOKURA, Daisuke YAMAMOTO, Hideto YUI.
Application Number | 20220144609 17/520269 |
Document ID | / |
Family ID | |
Filed Date | 2022-05-12 |
United States Patent
Application |
20220144609 |
Kind Code |
A1 |
YAMAMOTO; Daisuke ; et
al. |
May 12, 2022 |
AUTONOMOUS MOBILE ROBOT, TRANSPORTER, AUTONOMOUS MOBILE ROBOT
CONTROL METHOD, AND TRANSPORTER CONTROL METHOD
Abstract
According to one embodiment, an autonomous mobile robot has a
driver, a first detector, a second detector, a localization
estimation part, a route-generating part, and a control part. The
localization estimation part is configured to calculate an
estimated position of the autonomous mobile robot in a
predetermined region in accordance with first data. The
route-generating part is configured to calculate a position of an
object present around the autonomous mobile robot in accordance
with second data. The route-generating part is configured to
calculate a route to a target position in accordance with the
estimated position and the position of the object. The control part
is configured to control the driver in accordance with the route.
The control part is configured to cause the autonomous mobile robot
to travel to the target position.
Inventors: |
YAMAMOTO; Daisuke;
(Kawasaki, JP) ; OGAWA; Hideki; (Shinagawa,
JP) ; SONOURA; Takafumi; (Yokohama, JP) ;
TOKURA; Seiji; (Kawasaki, JP) ; MORI; Akihiro;
(Kawasaki, JP) ; ITO; Yusuke; (Yokohama, JP)
; MAKI; Yasunori; (Kawasaki, JP) ; YUI;
Hideto; (Yokohama, JP) ; KISHI; Nobuyuki;
(Ota, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Kabushiki Kaisha Toshiba
Toshiba Infrastructure Systems & Solutions Corporation |
Tokyo
Kawasaki-shi |
|
JP
JP |
|
|
Assignee: |
Kabushiki Kaisha Toshiba
Tokyo
JP
Toshiba Infrastructure Systems & Solutions
Corporation
Kawasaki-shi
JP
|
Appl. No.: |
17/520269 |
Filed: |
November 5, 2021 |
International
Class: |
B66F 9/06 20060101
B66F009/06; G05D 1/02 20060101 G05D001/02; B66F 9/075 20060101
B66F009/075; G06K 9/00 20060101 G06K009/00 |
Foreign Application Data
Date |
Code |
Application Number |
Nov 6, 2020 |
JP |
2020-186088 |
Claims
1. An autonomous mobile robot, comprising: a driver configured to
cause the autonomous mobile robot to move; a first detector
provided at a position higher than a position in height of an
object present around the autonomous mobile robot, the first
detector being configured to obtain first data by scanning the
object at a first region around the autonomous mobile robot; a
second detector configured to obtain second data by scanning the
object at a second region around the autonomous mobile robot; a
localization estimation part configured to calculate an estimated
position of the autonomous mobile robot in a predetermined region
in accordance with the first data; a route-generating part
configured to calculate a position of the object present around the
autonomous mobile robot in accordance with the second data, the
route-generating part being configured to calculate a route to a
target position in accordance with the estimated position and the
position of the object; and a control part configured to control
the driver in accordance with the route, the control part being
configured to cause the autonomous mobile robot to travel to the
target position.
2. The autonomous mobile robot according to claim 1, wherein the
object present around the autonomous mobile robot is movable.
3. The autonomous mobile robot according to claim 1, wherein the
object present around the autonomous mobile robot is changeable in
shape.
4. A transporter comprising an autonomous mobile robot configured
to transport a transport object, the autonomous mobile robot
comprising: a driver configured to cause the autonomous mobile
robot to move; a first detector provided at a position higher than
a position in height of an object present around the autonomous
mobile robot, the first detector being configured to obtain first
data by scanning the object at a first region around the autonomous
mobile robot; a second detector configured to obtain second data by
scanning the object at a second region around the autonomous mobile
robot; a localization estimation part configured to calculate an
estimated position of the autonomous mobile robot in a
predetermined region in accordance with the first data; a
route-generating part configured to calculate a position of an
object present around the autonomous mobile robot in accordance
with the second data, the route-generating part being configured to
calculate a route to a target position in accordance with the
estimated position and the position of the object; and a control
part configured to control the driver in accordance with the route,
the control part being configured to cause the autonomous mobile
robot to travel to the target position.
5. The transporter according to claim 4, wherein the autonomous
mobile robot is a transfer carriage configured to transport the
transport object.
6. The transporter according to claim 4, wherein the first detector
is adjustable in height to be higher than the position in height of
the object.
7. The transporter according to claim 4, wherein the first detector
is provided at a position in height higher than 1.8 in.
8. The transporter according to claim 4, further comprising: a
third detector configured to obtain third data associated with a
position of a leg provided under the transport object, wherein the
control part controls the driver in accordance with the third data
to cause the autonomous mobile robot to be disposed at the
transport object.
9. The transporter according to claim 4, further comprising: a
camera configured to capture an image of a region around the
autonomous mobile robot at a position at which the first detector
is provided; and a recognition part configured to recognize the
transport object and the object in accordance with image data
obtained by the camera, wherein the control part controls the
driver in accordance with a recognition result recognized by the
recognition part to cause the autonomous mobile robot to
travel.
10. The transporter according to claim 4, wherein the
route-generating part calculates a position of the object in
accordance with the first data.
11. The transporter according to claim 4, wherein the
route-generating part compares the second data to the first data
and calibrates an error in position at which the first detector is
provided.
12. The transporter according to claim 4, further comprising: a
fourth detector configured to obtain fourth data representing swing
of the first detector, wherein the localization estimation part
corrects the first data in accordance with the fourth data.
13. An autonomous mobile robot control method, comprising:
obtaining first data by scanning an object at a position higher
than a position in height of the object present around an
autonomous mobile robot at a first region around the autonomous
mobile robot; obtaining second data by scanning the object at a
second region around the autonomous mobile robot; calculating an
estimated position of the autonomous mobile robot in a
predetermined region in accordance with the first data; calculating
a position of the object in accordance with the second data;
calculating a route to a target position in accordance with the
estimated position and the position of the object; and controlling
a driver in accordance with the route, the driver being configured
to cause the autonomous mobile robot to transfer, causing the
autonomous mobile robot to travel to the target position.
14. The autonomous mobile robot control method according to claim
13, wherein the object present around the autonomous mobile robot
is movable.
15. The autonomous mobile robot control method according to claim
13, wherein the object present around the autonomous mobile robot
is changeable in shape.
16. A transporter control method, comprising: obtaining first data
by scanning an object at a position higher than a position in
height of the object present around an autonomous mobile robot at a
first region around the autonomous mobile robot, the autonomous
mobile robot being configured to transport a transport object;
obtaining second data by scanning the object at a second region
around the autonomous mobile robot; calculating an estimated
position of the autonomous mobile robot in a predetermined region
in accordance with the first data; calculating a position of the
object in accordance with the second data; calculating a route to a
target position in accordance with the estimated position and the
position of the object; and controlling a driver in accordance with
the route, the driver being configured to cause the autonomous
mobile robot to transfer, causing the autonomous mobile robot to
travel to the target position.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application is based upon and claims the benefit of
priority from Japanese Patent Application No. 2020-186088, filed
Nov. 6, 2020, the entire contents of which are incorporated herein
by reference.
FIELD
[0002] Embodiments described herein relate generally to an
autonomous mobile robot, a transporter, an autonomous mobile robot
control method, and a transporter control method.
BACKGROUND
[0003] Conventionally, an AGV (Automatic Guided Vehicle) has been
used. For example, the AGV is configured to calculate a
self-location by measuring a direction and a distance with respect
to a reflector provided on a wall using a laser range finder, and
automatically travels in accordance with the calculation
result.
[0004] Furthermore, a technique of simultaneously carrying out
estimation of localization and formation of an environment map,
which is referred to as SLAM (Simultaneous Localization and
Mapping), is known.
BRIEF DESCRIPTION OF THE DRAWINGS
[0005] FIG. 1 is a view showing a configuration of a transporter
according to a first embodiment.
[0006] FIG. 2 is a perspective view showing the configuration of
the transporter according to the first embodiment.
[0007] FIG. 3 is a block diagram showing the configuration of the
transporter according to the first embodiment.
[0008] FIG. 4 is a flowchart showing processes carried out by the
transporter according to the first embodiment.
[0009] FIG. 5 is a view showing a configuration of a transporter
according to a second embodiment.
[0010] FIG. 6 is a block diagram showing the configuration of the
transporter according to the second embodiment.
[0011] FIG. 7 is a block diagram showing the configuration of the
transporter according to a fifth embodiment.
DETAILED DESCRIPTION
[0012] According to one embodiment, an autonomous mobile robot has
a driver, a first detector, a second detector, a localization
estimation part, a route-generating part, and a control part. The
autonomous mobile robot is autonomously movable. The driver is
configured to cause the autonomous mobile robot to move. The first
detector is provided at a position higher than a position in height
of an object present around the autonomous mobile robot. The first
detector is configured to obtain first data by scanning the object
at a first region around the autonomous mobile robot. The second
detector is configured to obtain second data by scanning the object
at a second region around the autonomous mobile robot. The
localization estimation part is configured to calculate an
estimated position of the autonomous mobile robot in a
predetermined region in accordance with the first data. The
route-generating part is configured to calculate a position of the
object present around the autonomous mobile robot in accordance
with the second data. The route-generating part is configured to
calculate a route to a target position in accordance with the
estimated position and the position of the object. The control part
is configured to control the driver in accordance with the route.
The control part is configured to cause the autonomous mobile robot
to travel to the target position.
[0013] Hereinafter, an autonomous mobile robot, a transporter, an
autonomous mobile robot control method, and a transporter control
method according to an embodiment will be described with reference
to the drawings. In the embodiment, the autonomous mobile robot is
applicable to a transporter. In the embodiment, the transporter is
configured to transport a transport object. The transporter
transfers the transport object in which packages, commercial
products, or the like are loaded in a distribution center or a back
yard of a shop.
First Embodiment
[0014] As shown in FIGS. 1 and 2, a transporter 1 (referred to as a
locomotion robot or an autonomous mobile robot) transports a
transport object D. The transport object D is, for example, a roll
box pallet. A travel direction P in which the transport object D
moves is determined. The transport object D has a lower surface and
an upper surface. The transport object D includes, for example, a
bottom plate D1 formed in a rectangular plate shape, a plurality of
wheels C (leg) provided on the lower surface of the bottom plate
D1, and a frame D2 provided on the upper surface of the bottom
plate D1.
[0015] A transport object (not shown in the drawings) is to be
mounted on the upper surface side of the bottom plate D1. The frame
D2 is provided so as to surround the transport object on the upper
surface side of the bottom plate D1. The frame D2 has four faces.
The frame D2 is formed so as to surround a circumference of the
transport object, for example, on four surfaces of the transport
object above the bottom plate D1. At least one of the four faces of
the frame D2 is an openable and closable door. The frame D2 may
have a configuration in which one face of the frame D2 is opened
without providing a door.
[0016] Four wheels C are disposed at four corners on the lower
surface side of the bottom plate D1. The wheels C cause the bottom
plate D1 to move with respect to the floor surface E. The wheels C
are two pairs of wheels provided on the lower surface side of the
bottom plate D1. The two pairs of the wheels are spaced at a
predetermined distance in the travel direction P. With the
aforementioned configuration, the transport object D travels on the
floor surface E when an external force is applied thereto in the
travel direction P. The transport object D is transferred to a
target position by the transporter 1.
[0017] The transporter 1 includes, for example, a transfer carriage
2 that transfers the transport object D and a plurality of
detectors used for sensing provided at the transfer carriage 2. The
detectors includes a first detector 10, a second detector 11, and a
third detector 12. The transfer carriage 2 includes, for example, a
load base 3 having an upper surface. The bottom plate D1 is to be
mounted on the upper surface of the load base 3. The load base 3
has a lower surface. A plurality of wheels 6 are provided on the
lower surface of load base 3. The wheels 6 are driven by a driver
14 (refer to FIG. 2) as described hereinbelow. As the wheels 6 are
driven, the load base 3 can travel on the floor surface E.
[0018] The wheels 6 are driven by a commonly-used two-wheel
independent drive system using the driver 14 described below. As
the wheels 6 are driven, the transporter 1 travels. The direction
of movement of the transporter 1 is controlled by a control part
110 as described hereinbelow. The wheels 6 may be driven by use of
a steering wheel or a particular kind of wheel so as to
omnidirectionally travel.
[0019] The height of the load base 3 is determined such that the
load base 3 can enter into a region between the bottom plate D1 of
the transport object D and the floor surface E. A lifter 4 is
provided on the upper surface side of the load base 3. The height
of the lifter 4 is adjustable. The lifter 4 is controlled by the
control part 110 described later.
[0020] When the load base 3 is inserted between the bottom plate D1
and the floor surface E, the lifter 4 increases the position
thereof in height and lifts up the transport object D. The load
base 3 transfers the transport object D in a state in which the
transport object D is lifted up by the lifter 4. The load base 3
may transfer the transport object D while generating a friction
between the lower surface side of the bottom plate D1 and an upper
surface side of the lifter 4 without lifting up the transport
object D. The transfer carriage 2 may transfer the transport object
D by traction while hooking the transport object D using a pin or
the like without providing the load base 3 and the lifter 4.
[0021] A housing 7 is provided at, for example, a front side in the
travel direction P on the load base 3 (refer to FIG. 1). A
controller 100 described later is housed in the housing 7. The
housing 7 is formed in a rectangular parallelepiped shape. At the
front side of the load base 3, the housing 7 is provided upright
from the upper surface side of the load base 3. A rotating light K
is provided at an upper surface side of the housing 7. The rotating
light K informs operators around the transporter 1 that the
transporter 1 is approaching. The rotating light K has a light
source, for example, that rotates to cause the operators to
visually recognize the transporter 1, and the rotating light K
attracts the attention of the operators to the approaching transfer
carriage 2.
[0022] A support member 8 is provided at an upper surface side of
the housing 7. The support member 8 is formed in a rod shape. The
support member 8 is configured to be provided upright. The support
member 8 is formed in, for example, a frame shape when viewed from
a direction along the travel direction P. Particularly, the support
member 8 has a configuration in which two rod members are provided
upright, and another rod member is further connected to the two rod
members so as to intersect therewith. The support member 8 may be
formed so as to have a reinforced truss structure that increases
bending rigidity in a front-back direction for preventing vibration
or may be formed so as to have other structures.
[0023] The first detector 10 and the rotating light K are provided
at an upper end of the support member 8. The first detector 10
detects an object around the transporter 1. The first detector 10
is, for example, an LRF (Laser Range Finder). The first detector 10
scans the object with a laser beam, receives reflection light
reflected from the object, and measures a distance to the surface
of the object in accordance with a phase difference of the
reflection light or a differential arrival time. The first detector
10 obtains first data by scanning the object at a first region
around the transfer carriage 2. The first detector 10 scans the
object in a predetermined angle range, for example, in a planar
direction around the first detector 10 and obtains the first data
associated with a distance to the surface of the object around the
first detector 10 at a plurality of points.
[0024] The first data is used to generate a
localization-and-estimation map of the transfer carriage 2 as
described hereinbelow. In the case in which there is a difference
in an ambient environment between a time of generating the
localization-and-estimation map and a time of practically carrying
out a transfer operation, a degree of accuracy of estimating the
localization becomes degraded. In a distribution center, a back
yard of a shop, or the like, a human is present around the
transporter 1, other roll box pallets are placed, and the ambient
environment of the transporter 1 varies from hour to hour.
Moreover, for example, in a distribution center or a back yard of a
shop, commercial products are often on a store shelf or the like
near the floor surface, and the number of products temporally
varies.
[0025] Consequently, depending on the above, a situation of the
object to be detected by the LRF may vary temporally. In the
distribution center, for example, roll box pallets or operators
frequently move, and the object to be detected by the LRF varies.
The ambient environment includes an environment inherence object
and a surrounding existence object. The environment inherence
object means an inherence object, for example, a circumference
wall, fixed equipment, a pillar, or the like. It is assumed that
the position or the shape of the environment inherence object is
not changed when the transfer carriage 2 is driven. The surrounding
existence object is an object other than the environment inherence
object of the ambient environment. It is assumed that the position
or the shape of the surrounding existence object is changed when
the transfer carriage 2 is driven. The surrounding existence object
is, for example, an object present around the transfer carriage 2
(a human, a transport object such as transfer carriage, roll box
pallet, or the like).
[0026] As compared with the environment inherence object, the
surrounding existence object is often located closer to the moving
transfer carriage 2 than the environment inherence object.
Furthermore, regarding the ambient environment, the environment
inherence object such as the circumference wall, the fixed
equipment, the pillar, or the like is not changed. Consequently,
the first detector 10 is attached to a position in height which is
assumed in advance such that the surrounding existence object of
the ambient environment such as a transfer object, a movable
object, or the like is not present. Particularly, the first
detector 10 is provided at a position in height of the object
(surrounding existence object) present around the transfer carriage
2.
[0027] In an environment in which there are a lot of movable
objects or operators are present, it is preferable that the first
detector 10 be attached to a position higher than that of the other
transport object (roll box pallet) or the moving obstacle such as a
human, which causes the ambient environment to be varied. The first
detector 10 is provided at a position, for example, higher than or
equal to 1.8 meters, which is a position higher than a body height
of a common person. Heights of roll box pallets used in a
distribution center or a back yard of a shop are different from
each other. The first detector 10 is provided such that the height
of the first detector 10 is manually adjustable so as to be higher
than the position in height of an object, for example, a moving
obstacle or the like present around the first detector.
Additionally, an adjuster (not shown in the drawings) may be
provided at the first detector 10. The adjuster can automatically
adjust the position of the first detector 10 to be higher than the
position in height of an object, for example, a moving obstacle or
the like present around the first detector.
[0028] The second detector 11 that obtains second data by scanning
the object is provided at a second region around the transfer
carriage 2 at the forward side of the housing 7 in the travel
direction P. The second detector 11 is, for example, an LRF. The
second detector 11 scans the object with a laser beam, receives
reflection light reflected from the object, and measures a distance
to the surface of the object in accordance with a phase difference
of the reflection light or a differential arrival time. The second
detector 11 scans the object in a predetermined angle range, for
example, in a planar direction in front of the second detector 11
and obtains the second data associated with a distance to the
surface of the object in front of the second detector 11 at a
plurality of points. The second detector 11 detects, for example, a
transfer object or a movable object around the second detector 11.
The movable object means, for example, a shelf that is optionally
changeable in position, the other transport object D that is being
temporarily halted, a transfer object such as a human, or the
like.
[0029] The third detector 12 is provided at the back side of the
load base 3 in the travel direction P. The third detector 12
obtains third data associated with positions of the wheels 6 (leg)
provided at the lower portion of the transport object D. The third
detector 12 is, for example, an LRF. The third detector 12 is
attached to a lower position in order to detect the wheels 6. The
third detector 12 scans the wheels 6 with a laser beam, receives
reflection light reflected from the wheels 6, and measures a
distance to the surface of the wheel 6 in accordance with a phase
difference of the reflection light or a differential arrival
time.
[0030] The third detector 12 scans the object in a predetermined
angle range, for example, in a planar direction of the laser
scanning direction and obtains the third data associated with a
distance to the surface of the wheel 6 in front of the third
detector 12 at a plurality of points. As described below, the
positions of the wheels 6 supporting the transport object D are
obtained in accordance with the third data detected by the third
detector 12, and the load base 3 can be inserted between the pair
of the wheels 6 facing each other in the travel direction P. A
depth camera capable of obtaining distance information as well as
the LRF may be used as the third detector 12. The third detector 12
may be configured of a plurality of infrared distance sensors.
[0031] Next, control of the transporter 1 will be described.
[0032] As shown in FIG. 3, movement of the transporter 1 is
controlled by the controller 100. The controller 100 is housed in,
for example, the housing 7. The controller 100 may be a device that
may be configured by a server device and controls the transfer
carriage 2 via a network. The transfer carriage 2 includes a
power-supply device (not shown in the drawings) as well as the
shown configuration. Here, the server device is a device capable of
communicating with a plurality of transfer carriages 2 and is
configured to concentratedly control the transfer carriages 2. For
example, the server device includes a communicator configured to
communicate with the transfer carriages 2, a processor such as CPU
(Central Processing Unit), a storage, or the like.
[0033] The controller 100 includes, for example, a storage 102, a
map-generating part 104, a localization estimation part 106, a
route-generating part 108, a control part 110, and a docking
control part 112. The storage 102 stores various data. The
map-generating part 104 generates a map for estimating a position
of the transporter 1. The localization estimation part 106
calculates an estimated position of the transfer carriage 2 in
accordance with the first data obtained by the first detector 10
and the map. The route-generating part 108 calculates a route to a
target position of the transporter 1 in accordance with the second
data obtained by the second detector 11 and the estimated position.
The control part 110 controls the driver 14 in accordance with the
third data formed by the route and the third detector 12 and causes
the transfer carriage to travel to the target position. The docking
control part 112 controls docking with respect to the transport
object D.
[0034] For example, as a processor such as CPU (Central Processing
Unit) executes program (computer program, software) stored in the
storage 102, a part or all of functional parts of the
map-generating part 104, the localization estimation part 106, the
route-generating part 108, the control part 110, and the docking
control part 112 is operated. Furthermore, a part or all of the
functions of the aforementioned constituent parts may be achieved
by hardware (circuit part, including circuitry) such as LSI (Large
Scale Integration Circuit), ASIC (Application Specific Integrated
Circuit), FPGA (Field Programmable Gate Array), GPU (Graphics
Processing Unit), or the like, or may be achieved by cooperation of
software and hardware. The program may be stored in advance in a
storage device such as a HDD (hard disk drive), a flash memory, or
the like. The program may be stored in a removable recording medium
such as a DVD, a CD-ROM, or the like. By loading the recording
medium to a drive device, the program may be installed in the drive
device.
[0035] A localization-and-estimation map is generated by SLAM in
order to estimate the localization of the transporter 1. In the
SLAM, it is assumed that the environment of generating the map is
the same as the environment of movement of the locomotion robot.
Initially, the localization-and-estimation map is generated by
causing the transporter 1 to travel by a manual operation. When the
transporter 1 travels in a predetermined region such as a business
place, that is an object in which the transporter 1 travels, the
first data generated by the first detector 10 is stored in the
storage 102. The storage 102 is realized by a recording medium, for
example, a RAM (Random Access Memory), a ROM (Read Only Memory), a
HDD, a flash memory, or the like.
[0036] The map-generating part 104 uses, for example, the first
data, calculates a two-dimensional shape associated with the
environment inherence object such as the circumference wall, the
fixed equipment, or the like, and generates the
localization-and-estimation map. The map-generating part 104 may
generate the localization-and-estimation map in accordance with the
first data as well as the localization-and-estimation map in
accordance with the second data. The map-generating part 104 may
separately generate the localization-and-estimation map at the
horizontal plane at a measured height of the first detector 10 in
accordance with construction drawing data. The
localization-and-estimation map generated by the map-generating
part 104 is stored in the storage 102.
[0037] The localization estimation part 106 calculates
two-dimensional distance information associated with the
environment inherence object such as the wall around the
transporter 1 (the transfer carriage 2), the fixed equipment, or
the like in accordance with the first data obtained by the first
detector 10. The localization estimation part 106 compares the
calculated two-dimensional distance information to the
localization-and-estimation map and extracts the predetermined
region coincident with the two-dimensional distance information
from the localization-and-estimation map.
[0038] The localization estimation part 106 calculates a relative
angle (posture) and a relative position with respect to a planar
direction of the transporter 1 in the predetermined region
extracted in accordance with the extracted predetermined region and
the calculated two-dimensional distance information. The
localization estimation part 106 calculates an estimated position
on the two-dimensional coordinate system of the transporter 1 in
the localization-and-estimation map in accordance with the
calculation result.
[0039] The route-generating part 108 calculates the shape of the
obstacle present around the transporter 1 in accordance with the
second data obtained by the second detector 11. The
route-generating part 108 compares the two-dimensional distance
information associated with the environment inherence object such
as the wall around the transporter 1, the fixed equipment, or the
like in the extracted predetermined region and the shape of the
object present around the transporter 1 in accordance with the
second data, and extracts the obstacle present around the
transporter 1. The route-generating part 108 generates a route from
the estimated position of the transporter 1 to the target
position.
[0040] At this time, the route-generating part 108 generates a
route that avoids the extracted obstacle. In accordance with the
second data, the route-generating part 108 updates real-time
information associated with the obstacles such as the number, the
position, the direction of movement, the speed, the size, or the
like at a predetermined timing, and updates route that avoids the
obstacle. The predetermined timing is adjusted in accordance with
the movement speed of the transporter 1. The route-generating part
108 may not only generate a route that avoids the obstacle in
accordance with a moving state of the obstacle but also generate a
route that avoids the obstacle by adjusting the speed of the
transfer carriage 2
[0041] The control part 110 controls the driver 14 in accordance
with the route generated by the route-generating part 108 and
causes the transfer carriage 2 to travel along the route. The
driver 14 independently controls the wheels 6 provided at right and
left of the transfer carriage 2, and controls the speed and the
direction of the transfer carriage 2. The control part 110 controls
the driver 14 and thereby controls the transfer carriage 2 so as to
be stopped or so as to avoid the obstacle in the case in which the
obstacle comes close at a distance to be less than or equal to a
previously-set reference. At this time, in the case in which the
transport object D being transferred, the control part 110 controls
deceleration of the driver 14 and the direction of the transfer
carriage so as to prevent load collapse.
[0042] The control part 110 may cause the rotating light K to
change a light emission pattern thereof and to light up in the case
in which a human comes close at a distance to be less than or equal
to a previously-set reference. As well as the rotating light K, the
control part 110 may cause a speaker (not shown in the drawings) to
emit sound and thereby notify the human. In the case in which the
obstacle is the other transporter 1, the control part 110 may
communicate with the other transporter 1 and adjust the relative
distance with respect to the other transporter 1. The control part
110 may communicate with a control apparatus (not shown in the
drawings) via a network and adjust the relative position with
respect to the other transporter 1.
[0043] The docking control part 112 recognizes arrangement of the
wheels C of the transport object D in accordance with the third
data obtained by the third detector. The docking control part 112
recognizes a space between the wheels C on the lower surface side
of the transport object D in accordance with the third data. The
docking control part 112 recognizes the relative position and the
posture of the transport object D. The distance between the pair of
the wheels C facing each other in the travel direction P of the
transport object D is different from distance between the pair of
the wheels C facing each other in the direction orthogonal to the
travel direction P. The docking control part 112 determines the
insertion direction of the transfer carriage 2 with respect to the
transport object D in accordance with the distance between the pair
of the wheels C in the recognized travel direction P and the
distance between the pair of the wheels C in the direction
orthogonal to the travel direction P. The docking control part 112
generates a docking route in which the transfer carriage 2 is
inserted between the wheels C in accordance with the third
data.
[0044] The control part 110 controls the driver 14 in accordance
with the docking route generated by the docking control part 112
and causes the transfer carriage 2 to be disposed at the transport
object D. The control part 110 controls the driver 14 and causes
the transfer carriage 2 to be inserted into the lower surface side
of the transport object D from the back portion thereof. When the
transfer carriage 2 reaches a predetermined position at the lower
surface side of the transport object D, the control part 110 causes
the driver 14 to be stopped, controls the lifter 4 so as to lift up
the bottom plate D1 of the transport object D, and causes the
transport object D to be in a state of being transportable.
[0045] Next, a controlling method of the transporter 1 will be
described.
[0046] FIG. 4 shows a flowchart showing processes of a control
method of the transporter 1. First of all, first data and second
data are obtained in advance by causing the transporter 1 to travel
by a manual operation in a region of a building or the like in
which the transporter 1 is used. The localization estimation part
106 generates a localization-and-estimation map in accordance with
first data (step S100). The first data is obtained by scanning an
object at a first region around the transfer carriage at a position
higher than the height position of an object present around the
transfer carriage transporting a transport object.
[0047] The docking control part 112 recognizes a space between the
wheels C of the transport object D in accordance with third data
obtained by the third detector 12. The control part 110 causes the
transfer carriage 2 to be disposed in the space at the lower side
of the transport object D in accordance with the recognized space
(step S102). The localization estimation part 106 calculates a
shape of a peripheral region in accordance with the first data
obtained by the first detector 10, compares the calculation result
and the localization-and-estimation map, and extracts a
predetermined region coincident with the
localization-and-estimation map.
[0048] The localization estimation part 106 calculates an estimated
position of the transfer carriage in the extracted predetermined
region (step S104). The route-generating part 108 calculates a
shape and a position of the peripheral region in accordance with
the second data obtained by scanning the object at a second region
around the transfer carriage 2, and extracts an obstacle around the
transfer carriage 2 in accordance with the calculate shape and the
localization-and-estimation map (step S106). The route-generating
part 108 generates a route to a target position in accordance with
the estimated position and generates a route to the target
position, which avoids the obstacle in accordance with the first
data and the second data (step S108). The control part 110 controls
the driver 14 in accordance with the route and causes the transfer
carriage 2 to travel to the target position (step S110). In the
case in which the other transport object is present, the steps
after the step 102 are repeated.
[0049] As described above, according to the transporter 1, in a
distribution center or a back yard of a shop, it is possible to
automatically transfer the transport object D such as a roll box
pallet or the like, in which, packages, commercial products, or the
like are loaded. According to the transporter 1, since the first
detector 10 is provided at the position higher than that of the
obstacle or the like around the first detector, it is possible to
calculate the estimated position of the transporter 1 without being
affected by the obstacle. Since the second detector 11 detects the
obstacle therearound, the transporter 1 can travel along the route
to the target position while avoiding the obstacle.
Second Embodiment
[0050] Hereinbelow, a second embodiment will be described. In the
following description, identical names and identical reference
numerals are used for the components which are identical to those
of the above-described embodiment, and duplicate description is
omitted (the same applies hereinafter).
[0051] As shown in FIGS. 5 and 6, in a transporter 1A according to
the second embodiment, a camera R that captures an image of a
circumference of the transfer carriage 2 at a position at which the
first detector 10 is provided may be provided. The camera R
captures an image of, for example, a wide field of view. The camera
R looks down upon the circumference of the transporter 1 from the
position of the first detector 10 and captures an image. The camera
R may be, for example, a depth camera that calculates a distance to
an object.
[0052] The controller 100 may include a recognition part 114 that
recognizes the transport object D and an object present around the
transfer carriage 2 in accordance with an image data obtained by
the camera R. The recognition part 114 extracts an obstacle around
the transfer carriage 2 in accordance with the image data. The
recognition part 114 may recognize the transport object D in
accordance with the image data. The recognition part 114 extracts
the transport object D in accordance with the image data, and
recognizes a distance to the transport object D, a relative posture
of the transport object D, and an insertion direction of the
transfer carriage 2.
[0053] The control part 110 controls the driver 14 based on the
recognition result recognized by the recognition part 114, causes
the transfer carriage 2 to travel so as to be inserted into the
lower surface side of the transport object D, and causes the
transfer carriage 2 to be disposed at the lower surface side of the
transport object D.
[0054] The route-generating part 108 generates a route to a target
position, which avoids the obstacle in accordance with the
position, the speed, the direction of movement, the size, or the
like of the obstacle extracted by the recognition part 114. The
control part 110 causes the transfer carriage 2 to travel to the
target position while avoiding the obstacle in accordance with the
generated route. The route-generating part 108 may extract the
obstacle present in the circumference by use of the image data
obtained by the camera R and the second data of the second detector
11. As the aforementioned camera R, a plurality of infrared
distance sensors that measure a distance may be used.
[0055] As described above, according to the transporter 1A, by use
of the camera R, it is possible to easily avoid the obstacle in the
circumference. According to the transporter 1A, by use of the
camera R, it is possible to dispose the transfer carriage 2 at the
lower surface side of the transport object D. Additionally, when
the transport object is unloaded at a transferring place, it is
possible to arrange the transport object next to the other
transport objects side by side.
Third Embodiment
[0056] In the aforementioned embodiment, an object present around
the transfer carriage 2 is extracted by use of the second detector
11 or the camera R. In the third embodiment, the object around the
transfer carriage 2 may be extracted by use of the first data of
the first detector 10. In the case in which, for example, a
three-dimensional LRF that can also carries out scanning in a
vertical direction is used as the first detector 10, the
route-generating part 108 may extract an object such as the
obstacle or the like around the transfer carriage 2 in accordance
with the first data obtained by the first detector 10.
[0057] As described above, according to the third embodiment, it is
possible to extract the object around the transfer carriage 2 in
accordance with the first data obtained by the first detector 10,
and it is possible to simplify a device configuration.
Fourth Embodiment
[0058] The first detector 10 is attached to a high position via the
support member 8. Consequently, there is a concern that the value
of the first data varies due to an error in position at which the
first detector 10 is attached or an effect of vibration generated
along with movement of the transfer carriage 2. In the fourth
embodiment, the controller 100 compares the second data obtained by
the second detector 11 and the first data obtained by the first
detector 10, and carries out calibration with respect to an error
in position at which the first detector is attached or an error
generated due to vibration.
[0059] At this time, a measurement object to be measured by the
second detector 11 is selected from the environment inherence
objects such as a wall, a pillar, or the like of a building, in
which it is assumed that the shape at the detection position of the
second detector 11 is the substantially same as that of the
detection position of the first detector 10. Since the second
detector 11 is provided at the housing 7 of the transfer carriage
2, the second data is stabilized more than the first data. For this
reason, in the controller 100, it is possible to carry out
calibration of the first data by carrying out verification by
comparing the first data and the second data. The route-generating
part 108 calculates the shape of the object of the circumference in
accordance with the first data. The route-generating part 108
calculates the shape of the object of the circumference in
accordance with the second data. The route-generating part 108
extracts characteristic parts, for example, the wall, the pillar,
the corner, or the like of the building in accordance with the
first data and the second data.
[0060] The route-generating part 108 compares a second
characteristic portion of the building in accordance with the
second data and a first characteristic portion of the building in
accordance with the first data. The route-generating part 108
compares, for example, data associated with a distance, a posture,
a shape, or the like of the second characteristic portion and data
associated with a distance, a posture, a shape, or the like of the
first characteristic portion, and thereby carries out calibration
with respect to the error in position at which the first detector
is attached or the error generated due to vibration.
[0061] According to the fourth embodiment, in the case of measuring
the same measurement object by the second detector 11 and the first
detector 10, the first data is compared to the second data
stabilized more than the first data. As a result, it is possible to
carry out the calibration with respect to the error in position at
which the first detector 10 is attached or the error generated due
to vibration which is included in the first data.
Fifth Embodiment
[0062] In the fourth embodiment, the calibration with respect to
the error in position at which the first detector 10 is attached or
the error generated due to vibration which is included in the first
data is carried out by comparing the first data of the first
detector 10 and the second data of the second detector 11. In the
fifth embodiment, the first data is corrected by detecting swing of
the first detector 10.
[0063] As shown in FIG. 7, a transporter 1B includes a fourth
detector V that obtains fourth data representing swing of the first
detector 10 of the transfer carriage 2. The fourth detector V is,
for example, a six-axis acceleration sensor (inertial sensor). The
fourth detector V is attached to a position near, for example, the
first detector 10. The localization estimation part 106 calculates
the posture of the first detector 10 in accordance with the fourth
data obtained by the fourth detector V. In accordance with the
calculated posture, the localization estimation part 106 corrects
the first data obtained by the first detector 10 to be data
associated with a state in which swing is not generated.
[0064] In each of the aforementioned embodiments, although the
map-generating part 104, the localization estimation part 106, the
route-generating part 108, the docking control part 112, and the
recognition part 114 are each software functional part, each of
them may be a hardware functional part such as LSI or the like.
[0065] According to at least one embodiment described above, the
autonomous mobile robot is autonomously movable, a driver 14
configured to cause the autonomous mobile robot to move; a first
detector 10 provided at a position higher than a position in height
of an object present around the autonomous mobile robot, the first
detector being configured to obtain first data by scanning the
object at a first region around the autonomous mobile robot; a
second detector 11 configured to obtain second data by scanning the
object at a second region around the autonomous mobile robot; a
localization estimation part 106 configured to calculate an
estimated position of the autonomous mobile robot in a
predetermined region in accordance with the first data; a
route-generating part 108 configured to calculate a position of the
object present around the autonomous mobile robot in accordance
with the second data, the route-generating part being configured to
calculate a route to a target position in accordance with the
estimated position and the position of the object; and a control
part 110 configured to control the driver in accordance with the
route, the control part being configured to cause the autonomous
mobile robot to travel to the target position. Accordingly, the
autonomous mobile robot can automatically travel in the environment
in which a movable object is present around the autonomous mobile
robot.
[0066] While certain embodiments have been described, these
embodiments have been presented by way of example only, and are not
intended to limit the scope of the inventions. Indeed, the novel
embodiments described herein may be embodied in a variety of other
forms; furthermore, various omissions, substitutions and changes in
the form of the embodiments described herein may be made without
departing from the inventions. The accompanying claims and their
equivalents are intended to cover such forms or modifications as
would fall within the scope of the inventions.
* * * * *